diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp index 8e9a147a35..02fe2a2dd3 100644 --- a/interface/src/Application.cpp +++ b/interface/src/Application.cpp @@ -4438,9 +4438,12 @@ void Application::update(float deltaTime) { getEntities()->getTree()->withWriteLock([&] { PerformanceTimer perfTimer("handleOutgoingChanges"); - const VectorOfMotionStates& outgoingChanges = _physicsEngine->getOutgoingChanges(); - _entitySimulation->handleOutgoingChanges(outgoingChanges); - avatarManager->handleOutgoingChanges(outgoingChanges); + const VectorOfMotionStates& deactivations = _physicsEngine->getDeactivatedMotionStates(); + _entitySimulation->handleDeactivatedMotionStates(deactivations); + + const VectorOfMotionStates& outgoingChanges = _physicsEngine->getChangedMotionStates(); + _entitySimulation->handleChangedMotionStates(outgoingChanges); + avatarManager->handleChangedMotionStates(outgoingChanges); }); if (!_aboutToQuit) { diff --git a/interface/src/avatar/AvatarManager.cpp b/interface/src/avatar/AvatarManager.cpp index 94ce444416..6152148887 100644 --- a/interface/src/avatar/AvatarManager.cpp +++ b/interface/src/avatar/AvatarManager.cpp @@ -424,7 +424,7 @@ void AvatarManager::getObjectsToChange(VectorOfMotionStates& result) { } } -void AvatarManager::handleOutgoingChanges(const VectorOfMotionStates& motionStates) { +void AvatarManager::handleChangedMotionStates(const VectorOfMotionStates& motionStates) { // TODO: extract the MyAvatar results once we use a MotionState for it. } diff --git a/interface/src/avatar/AvatarManager.h b/interface/src/avatar/AvatarManager.h index e1f5a3b411..b94f9e6a96 100644 --- a/interface/src/avatar/AvatarManager.h +++ b/interface/src/avatar/AvatarManager.h @@ -70,7 +70,7 @@ public: void getObjectsToRemoveFromPhysics(VectorOfMotionStates& motionStates); void getObjectsToAddToPhysics(VectorOfMotionStates& motionStates); void getObjectsToChange(VectorOfMotionStates& motionStates); - void handleOutgoingChanges(const VectorOfMotionStates& motionStates); + void handleChangedMotionStates(const VectorOfMotionStates& motionStates); void handleCollisionEvents(const CollisionEvents& collisionEvents); Q_INVOKABLE float getAvatarDataRate(const QUuid& sessionID, const QString& rateName = QString("")) const; diff --git a/libraries/entities/src/EntityItem.cpp b/libraries/entities/src/EntityItem.cpp index 3ef1648fae..0bb085459e 100644 --- a/libraries/entities/src/EntityItem.cpp +++ b/libraries/entities/src/EntityItem.cpp @@ -655,13 +655,11 @@ int EntityItem::readEntityDataFromBuffer(const unsigned char* data, int bytesLef // pack SimulationOwner and terse update properties near each other - // NOTE: the server is authoritative for changes to simOwnerID so we always unpack ownership data // even when we would otherwise ignore the rest of the packet. bool filterRejection = false; if (propertyFlags.getHasProperty(PROP_SIMULATION_OWNER)) { - QByteArray simOwnerData; int bytes = OctreePacketData::unpackDataFromBytes(dataAt, simOwnerData); SimulationOwner newSimOwner; @@ -1879,6 +1877,7 @@ void EntityItem::setSimulationOwner(const SimulationOwner& owner) { } void EntityItem::updateSimulationOwner(const SimulationOwner& owner) { + // NOTE: this method only used by EntityServer. The Interface uses special code in readEntityDataFromBuffer(). if (wantTerseEditLogging() && _simulationOwner != owner) { qCDebug(entities) << "sim ownership for" << getDebugName() << "is now" << owner; } @@ -1894,8 +1893,9 @@ void EntityItem::clearSimulationOwnership() { } _simulationOwner.clear(); - // don't bother setting the DIRTY_SIMULATOR_ID flag because clearSimulationOwnership() - // is only ever called on the entity-server and the flags are only used client-side + // don't bother setting the DIRTY_SIMULATOR_ID flag because: + // (a) when entity-server calls clearSimulationOwnership() the dirty-flags are meaningless (only used by interface) + // (b) the interface only calls clearSimulationOwnership() in a context that already knows best about dirty flags //_dirtyFlags |= Simulation::DIRTY_SIMULATOR_ID; } diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp index c175a836cc..d383f4c199 100644 --- a/libraries/physics/src/EntityMotionState.cpp +++ b/libraries/physics/src/EntityMotionState.cpp @@ -97,6 +97,21 @@ void EntityMotionState::updateServerPhysicsVariables() { _serverActionData = _entity->getActionData(); } +void EntityMotionState::handleDeactivation() { + // copy _server data to entity + bool success; + _entity->setPosition(_serverPosition, success, false); + _entity->setOrientation(_serverRotation, success, false); + _entity->setVelocity(ENTITY_ITEM_ZERO_VEC3); + _entity->setAngularVelocity(ENTITY_ITEM_ZERO_VEC3); + // and also to RigidBody + btTransform worldTrans; + worldTrans.setOrigin(glmToBullet(_serverPosition)); + worldTrans.setRotation(glmToBullet(_serverRotation)); + _body->setWorldTransform(worldTrans); + // no need to update velocities... should already be zero +} + // virtual void EntityMotionState::handleEasyChanges(uint32_t& flags) { assert(entityTreeIsLocked()); @@ -111,6 +126,8 @@ void EntityMotionState::handleEasyChanges(uint32_t& flags) { flags &= ~Simulation::DIRTY_PHYSICS_ACTIVATION; _body->setActivationState(WANTS_DEACTIVATION); _outgoingPriority = 0; + const float ACTIVATION_EXPIRY = 3.0f; // something larger than the 2.0 hard coded in Bullet + _body->setDeactivationTime(ACTIVATION_EXPIRY); } else { // disowned object is still moving --> start timer for ownership bid // TODO? put a delay in here proportional to distance from object? @@ -221,12 +238,9 @@ void EntityMotionState::getWorldTransform(btTransform& worldTrans) const { } // This callback is invoked by the physics simulation at the end of each simulation step... -// iff the corresponding RigidBody is DYNAMIC and has moved. +// iff the corresponding RigidBody is DYNAMIC and ACTIVE. void EntityMotionState::setWorldTransform(const btTransform& worldTrans) { - if (!_entity) { - return; - } - + assert(_entity); assert(entityTreeIsLocked()); measureBodyAcceleration(); bool positionSuccess; diff --git a/libraries/physics/src/EntityMotionState.h b/libraries/physics/src/EntityMotionState.h index feac47d8ec..380edf3927 100644 --- a/libraries/physics/src/EntityMotionState.h +++ b/libraries/physics/src/EntityMotionState.h @@ -29,6 +29,7 @@ public: virtual ~EntityMotionState(); void updateServerPhysicsVariables(); + void handleDeactivation(); virtual void handleEasyChanges(uint32_t& flags) override; virtual bool handleHardAndEasyChanges(uint32_t& flags, PhysicsEngine* engine) override; diff --git a/libraries/physics/src/PhysicalEntitySimulation.cpp b/libraries/physics/src/PhysicalEntitySimulation.cpp index 903b160a5e..bd76b2d70f 100644 --- a/libraries/physics/src/PhysicalEntitySimulation.cpp +++ b/libraries/physics/src/PhysicalEntitySimulation.cpp @@ -259,13 +259,27 @@ void PhysicalEntitySimulation::getObjectsToChange(VectorOfMotionStates& result) _pendingChanges.clear(); } -void PhysicalEntitySimulation::handleOutgoingChanges(const VectorOfMotionStates& motionStates) { +void PhysicalEntitySimulation::handleDeactivatedMotionStates(const VectorOfMotionStates& motionStates) { + for (auto stateItr : motionStates) { + ObjectMotionState* state = &(*stateItr); + assert(state); + if (state->getType() == MOTIONSTATE_TYPE_ENTITY) { + EntityMotionState* entityState = static_cast(state); + entityState->handleDeactivation(); + EntityItemPointer entity = entityState->getEntity(); + _entitiesToSort.insert(entity); + } + } +} + +void PhysicalEntitySimulation::handleChangedMotionStates(const VectorOfMotionStates& motionStates) { QMutexLocker lock(&_mutex); // walk the motionStates looking for those that correspond to entities for (auto stateItr : motionStates) { ObjectMotionState* state = &(*stateItr); - if (state && state->getType() == MOTIONSTATE_TYPE_ENTITY) { + assert(state); + if (state->getType() == MOTIONSTATE_TYPE_ENTITY) { EntityMotionState* entityState = static_cast(state); EntityItemPointer entity = entityState->getEntity(); assert(entity.get()); diff --git a/libraries/physics/src/PhysicalEntitySimulation.h b/libraries/physics/src/PhysicalEntitySimulation.h index af5def9775..5f6185add3 100644 --- a/libraries/physics/src/PhysicalEntitySimulation.h +++ b/libraries/physics/src/PhysicalEntitySimulation.h @@ -56,7 +56,8 @@ public: void setObjectsToChange(const VectorOfMotionStates& objectsToChange); void getObjectsToChange(VectorOfMotionStates& result); - void handleOutgoingChanges(const VectorOfMotionStates& motionStates); + void handleDeactivatedMotionStates(const VectorOfMotionStates& motionStates); + void handleChangedMotionStates(const VectorOfMotionStates& motionStates); void handleCollisionEvents(const CollisionEvents& collisionEvents); EntityEditPacketSender* getPacketSender() { return _entityPacketSender; } @@ -67,7 +68,7 @@ private: SetOfEntities _entitiesToAddToPhysics; SetOfEntityMotionStates _pendingChanges; // EntityMotionStates already in PhysicsEngine that need their physics changed - SetOfEntityMotionStates _outgoingChanges; // EntityMotionStates for which we need to send updates to entity-server + SetOfEntityMotionStates _outgoingChanges; // EntityMotionStates for which we may need to send updates to entity-server SetOfMotionStates _physicalObjects; // MotionStates of entities in PhysicsEngine diff --git a/libraries/physics/src/PhysicsEngine.cpp b/libraries/physics/src/PhysicsEngine.cpp index 363887de25..a8a8e6acfd 100644 --- a/libraries/physics/src/PhysicsEngine.cpp +++ b/libraries/physics/src/PhysicsEngine.cpp @@ -472,7 +472,7 @@ const CollisionEvents& PhysicsEngine::getCollisionEvents() { return _collisionEvents; } -const VectorOfMotionStates& PhysicsEngine::getOutgoingChanges() { +const VectorOfMotionStates& PhysicsEngine::getChangedMotionStates() { BT_PROFILE("copyOutgoingChanges"); // Bullet will not deactivate static objects (it doesn't expect them to be active) // so we must deactivate them ourselves diff --git a/libraries/physics/src/PhysicsEngine.h b/libraries/physics/src/PhysicsEngine.h index bbafbb06b6..b2ebe58f08 100644 --- a/libraries/physics/src/PhysicsEngine.h +++ b/libraries/physics/src/PhysicsEngine.h @@ -65,7 +65,8 @@ public: bool hasOutgoingChanges() const { return _hasOutgoingChanges; } /// \return reference to list of changed MotionStates. The list is only valid until beginning of next simulation loop. - const VectorOfMotionStates& getOutgoingChanges(); + const VectorOfMotionStates& getChangedMotionStates(); + const VectorOfMotionStates& getDeactivatedMotionStates() const { return _dynamicsWorld->getDeactivatedMotionStates(); } /// \return reference to list of Collision events. The list is only valid until beginning of next simulation loop. const CollisionEvents& getCollisionEvents(); diff --git a/libraries/physics/src/ThreadSafeDynamicsWorld.cpp b/libraries/physics/src/ThreadSafeDynamicsWorld.cpp index 5fe99f137c..24cfbc2609 100644 --- a/libraries/physics/src/ThreadSafeDynamicsWorld.cpp +++ b/libraries/physics/src/ThreadSafeDynamicsWorld.cpp @@ -120,30 +120,41 @@ void ThreadSafeDynamicsWorld::synchronizeMotionState(btRigidBody* body) { void ThreadSafeDynamicsWorld::synchronizeMotionStates() { BT_PROFILE("synchronizeMotionStates"); _changedMotionStates.clear(); + + // NOTE: m_synchronizeAllMotionStates is 'false' by default for optimization. + // See PhysicsEngine::init() where we call _dynamicsWorld->setForceUpdateAllAabbs(false) if (m_synchronizeAllMotionStates) { //iterate over all collision objects for (int i=0;igetMotionState()) { - synchronizeMotionState(body); - _changedMotionStates.push_back(static_cast(body->getMotionState())); - } + if (body && body->getMotionState()) { + synchronizeMotionState(body); + _changedMotionStates.push_back(static_cast(body->getMotionState())); } } } else { //iterate over all active rigid bodies + // TODO? if this becomes a performance bottleneck we could derive our own SimulationIslandManager + // that remembers a list of objects deactivated last step + _activeStates.clear(); + _deactivatedStates.clear(); for (int i=0;iisActive()) { - if (body->getMotionState()) { + ObjectMotionState* motionState = static_cast(body->getMotionState()); + if (motionState) { + if (body->isActive()) { synchronizeMotionState(body); - _changedMotionStates.push_back(static_cast(body->getMotionState())); + _changedMotionStates.push_back(motionState); + _activeStates.insert(motionState); + } else if (_lastActiveStates.find(motionState) != _lastActiveStates.end()) { + // this object was active last frame but is no longer + _deactivatedStates.push_back(motionState); } } } } + _activeStates.swap(_lastActiveStates); } void ThreadSafeDynamicsWorld::saveKinematicState(btScalar timeStep) { diff --git a/libraries/physics/src/ThreadSafeDynamicsWorld.h b/libraries/physics/src/ThreadSafeDynamicsWorld.h index 68062d8d29..b4fcca8cdb 100644 --- a/libraries/physics/src/ThreadSafeDynamicsWorld.h +++ b/libraries/physics/src/ThreadSafeDynamicsWorld.h @@ -49,12 +49,16 @@ public: float getLocalTimeAccumulation() const { return m_localTime; } const VectorOfMotionStates& getChangedMotionStates() const { return _changedMotionStates; } + const VectorOfMotionStates& getDeactivatedMotionStates() const { return _deactivatedStates; } private: // call this instead of non-virtual btDiscreteDynamicsWorld::synchronizeSingleMotionState() void synchronizeMotionState(btRigidBody* body); VectorOfMotionStates _changedMotionStates; + VectorOfMotionStates _deactivatedStates; + SetOfMotionStates _activeStates; + SetOfMotionStates _lastActiveStates; }; #endif // hifi_ThreadSafeDynamicsWorld_h